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Flexible assembly system based on intelligent end effector

An end effector and flexible assembly technology, applied in the direction of assembly machines, program-controlled manipulators, metal processing equipment, etc., can solve the problem of not being able to adapt to the assembly of various parts, glue coating, high-precision assembly, and large-scale products. Assembly and other issues, to achieve the effect of accurate detection, compact structure, efficient and fast assembly process

Pending Publication Date: 2017-06-20
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] For example, the application number is 201320739655.1, and the utility model patent named "flexible assembly system and flexible assembly line" provides an assembly line using a flexible assembly system. In fact, it is the principle of the assembly line assembly system, which only modularizes and compacts each station, and uses multi-degree-of-freedom robots for assembly and product transfer in each step. This assembly system cannot meet the assembly of large products. The patent is due to the multi-degree-of-freedom robot end The actuator cannot adapt to the product assembly of various components and various process requirements, such as the assembly of paper and other parts, glue coating and other process requirements
Another example is the application number 201510546368.2, the invention patent titled "a truss-type flexible automatic assembly system" provides a truss-type assembly system, which is completed by a two-dimensional truss and a multi-degree-of-freedom robot The assembly of different parts is satisfied by adjusting the types of actuators, but the invention cannot satisfy high-precision assembly by using a two-dimensional truss, and the replacement of the end effector cannot be completed automatically

Method used

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  • Flexible assembly system based on intelligent end effector
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  • Flexible assembly system based on intelligent end effector

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] A flexible assembly system based on an intelligent end effector includes a part placement table 1, a truss robot, a warehouse of working heads 7, and a fixed workbench. The robot is positioned above the part placement table 1, the fixed workbench and the working head 7 warehouses. The basic parts of the product are clamped on the fixed workbench, and the end effector of the truss robot clamps / absorbs the parts from the part placement table 1, and then assembles them on the basic parts of the product; during the assembly process, the warehouse of the working head 7 cooperates with the robot to complete the automatic Replacement to realize the flexible assembly process of large mechanical products. The truss robot is connected with the working head 7 through a quick joint; the male joint is installed at the end of the robot, and the female joint is installed on the working head 7; the automatic replacement of the end effector can be realized by using the quick joint.

Embodiment 2

[0032] A flexible assembly system based on an intelligent end effector includes a part placement table 1, a truss robot, a warehouse of working heads 7, and a fixed workbench. The robot is positioned above the part placement table 1, the fixed workbench and the working head 7 warehouses.

[0033] The truss robot includes a crossbeam 3, the two ends of the crossbeam 3 are connected with columns 2, the crossbeam 3 is provided with a plurality of supporting plates 4, each supporting plate 4 is connected with a hanging arm 5, and the lower end of the hanging arm 5 is It is connected with the male head 6 of the working head.

[0034] Working head 7 storehouse comprises working head storehouse support 8, and described working head storehouse support 8 is provided with at least one leading screw guide rail moving pair 12, and described leading screw guide rail moving pair 12 links to each other with moving pallet 10, and described working head storehouse The support 8 is connected w...

Embodiment 3

[0044] On the basis of Embodiment 1 and Embodiment 2, the present invention will be further described in detail with reference to the accompanying drawings.

[0045] Such as figure 1 , figure 2 As shown, a flexible assembly system based on an intelligent end effector, the system includes a parts placement table 1, a truss robot, a working head warehouse and a fixed workbench; wherein, the truss robot includes: a column 2, a beam 3, a pallet 4, a hanger Arm 5, working head male head 6; working head warehouse includes: working head 7, working head storehouse support 8, working head supporting frame 9, moving supporting plate 10, side supporting plate mechanism 11, lead screw guide rail moving pair 12; fixed working The table includes: a clamping device 13, a moving guide rail 14, a lead screw 15, and a body bracket 16. The specific implementation and working process of each part in this embodiment will be described in detail below.

[0046] The parts placing table 1 has a pl...

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Abstract

The invention belongs to the application field of assembly automation, and particularly relates to a flexible assembly system based on an intelligent end effector. The flexible assembly system comprises a part placing table, a truss robot, a work head library and a fixed work table, wherein the part placing table, the fixed work table and the work head library are arranged side by side, and the truss robot is located above the part placing table, the fixed work table and the work head library. According to the flexible assembly system, a large mechanical product is assembled through the truss robot, the work head library and the like, and the flexible assembly system is compact in structure compared with a traditional assembly line type assembly line.

Description

technical field [0001] The invention belongs to the application field of assembly automation, and in particular relates to a flexible assembly system based on an intelligent end effector. Background technique [0002] Assembly is a key step in the manufacturing process of mechanical products, and it is also an important link in determining the quality of mechanical products. Automated assembly technology can realize the automatic assembly process of products, which can improve production efficiency, reduce labor intensity, and reduce processing costs. However, the traditional automated assembly line has shortcomings such as large space occupation, poor flexibility, and lack of perception and adaptive control capabilities, which limit the development of automated assembly systems. In addition, these shortcomings are particularly prominent in the assembly of large-scale mechanical products, because large-scale mechanical products have the characteristics of large size, many t...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/02B23P21/00
CPCB23P21/002B25J9/026B25J11/00
Inventor 荣必贤莫堃彭波徐娜
Owner 中国东方电气集团有限公司
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